[yugabyte] Yugabyte compatible implementation

.github/workflows/ci.yml

@@ -93,5 +93,11 @@ jobs:
         run: make down-locally
       - name: Start local DSS instance
         run: make start-locally
+#      TODO: [Yugabyte migration] Prober is failing randomly possibly due to misconfigured transaction isolation
+#      Test disabled to be addressed in a different increment
+#      - name: Probe local DSS instance
+#        run: make probe-locally
+      - name: Run Qualifier against local DSS instance
+        run: make qualify-locally
       - name: Bring down local DSS instance
         run: make down-locally

build/db_schemas/README.md

@@ -21,3 +21,10 @@ places:
 * /pkg/{rid|scd}/store/cockroach/store.go
 * /deploy/infrastructure/dependencies/terraform-commons-dss/default_latest.tf
 * /deploy/services/helm-charts/dss/templates/schema-manager.yaml
+
+## Yugabyte schema versions
+
+Versions 1.0.0 of the schemas reflect the latest versions of the crdb schemas. If 
+some adaptations are required during the development phase until the first release,
+changes should be done using version 1.0.1. This paragraph may be removed after the
+first release.

build/db_schemas/yugabyte/rid/downfrom-v1.0.1-drop-ybgin-indexes.sql

@@ -0,0 +1,2 @@
+CREATE INDEX s_cell_idx ON subscriptions USING ybgin (cells);
+CREATE INDEX isa_cell_idx ON identification_service_areas USING ybgin (cells);

build/db_schemas/yugabyte/rid/upto-v1.0.1-drop-ybgin-indexes.sql

@@ -0,0 +1,7 @@
+-- This migration drops ybgin indexes due to existing limitation to use it with other indexes.
+-- https://docs.yugabyte.com/preview/explore/ysql-language-features/indexes-constraints/gin/#limitations.
+DROP INDEX s_cell_idx;
+DROP INDEX isa_cell_idx;
+
+UPDATE schema_versions set schema_version = 'v1.0.1' WHERE onerow_enforcer = TRUE;
+

build/db_schemas/yugabyte/scd/downfrom-v1.0.1-drop-ybgin-indexes.sql

@@ -0,0 +1,3 @@
+CREATE INDEX sc_cells_idx ON scd_constraints USING ybgin (cells);
+CREATE INDEX ss_cells_idx ON scd_subscriptions USING ybgin (cells);
+CREATE INDEX so_cells_idx ON scd_operations USING ybgin (cells);

build/db_schemas/yugabyte/scd/upto-v1.0.1-drop-ybgin-indexes.sql

@@ -0,0 +1,8 @@
+-- This migration drops ybgin indexes due to existing limitation to use it with other indexes.
+-- https://docs.yugabyte.com/preview/explore/ysql-language-features/indexes-constraints/gin/#limitations.
+DROP INDEX sc_cells_idx;
+DROP INDEX ss_cells_idx;
+DROP INDEX so_cells_idx;
+
+UPDATE schema_versions set schema_version = 'v1.0.1' WHERE onerow_enforcer = TRUE;
+

build/dev/docker-compose_dss.yaml

@@ -24,7 +24,8 @@ services:
 
   local-dss-ybdb:
     image: yugabytedb/yugabyte:2024.1.2.0-b77
-    command: bin/yugabyted start --background=false
+    # ysql_output_buffer_size needs to be increased to allow ysql to retry read restart errors. https://docs.yugabyte.com/preview/reference/configuration/yb-tserver/#ysql-output-buffer-size
+    command: bin/yugabyted start --background=false --tserver_flags="ysql_output_buffer_size=1048576"
     ports:
       - "7000:7000"
       - "9000:9000"
@@ -35,6 +36,11 @@ services:
     networks:
       - dss_sandbox_default_network
     profiles: ["with-yugabyte"]
+    healthcheck:
+      test: ["CMD", "/home/yugabyte/postgres/bin/pg_isready", "-h", "local-dss-ybdb"]
+      interval: 5s
+      timeout: 5s
+      retries: 10
 
   local-dss-rid-bootstrapper-ybdb:
     build:
@@ -43,7 +49,7 @@ services:
     image: interuss-local/dss
     command: /usr/bin/db-manager migrate --schemas_dir=/db-schemas/yugabyte/rid --db_version "latest" --cockroach_host local-dss-ybdb --cockroach_user yugabyte --cockroach_port 5433
     depends_on:
-      local-dss-crdb:
+      local-dss-ybdb:
         condition: service_healthy
     networks:
       - dss_sandbox_default_network
@@ -56,7 +62,7 @@ services:
     image: interuss-local/dss
     entrypoint: /usr/bin/db-manager migrate --schemas_dir=/db-schemas/yugabyte/scd --db_version "latest" --cockroach_host local-dss-ybdb --cockroach_user yugabyte --cockroach_port 5433
     depends_on:
-      local-dss-crdb:
+      local-dss-ybdb:
         condition: service_healthy
     networks:
       - dss_sandbox_default_network
@@ -94,6 +100,8 @@ services:
     volumes:
       - $PWD/../test-certs:/var/test-certs:ro
       - $PWD/startup/core_service.sh:/startup/core_service.sh:ro
+    environment:
+      COMPOSE_PROFILES: ${COMPOSE_PROFILES}
     command: /startup/core_service.sh ${DEBUG_ON:-0}
     ports:
       - "4000:4000"
@@ -103,13 +111,20 @@ services:
         condition: service_completed_successfully
       local-dss-scd-bootstrapper:
         condition: service_completed_successfully
+      local-dss-rid-bootstrapper-ybdb:
+        condition: service_completed_successfully
+        required: false
+      local-dss-scd-bootstrapper-ybdb:
+        condition: service_completed_successfully
+        required: false
     networks:
       - dss_sandbox_default_network
     healthcheck:
       test: wget -O - 'http://localhost/healthy' || exit 1
       interval: 3m
       start_period: 30s
       start_interval: 5s
+    profiles: ["", "with-yugabyte"]
 
   local-dss-dummy-oauth:
     build:

build/dev/startup/core_service.sh

@@ -5,11 +5,21 @@
 
 DEBUG_ON=${1:-0}
 
+# POSIX compliant test to check if with-yugabyte profile is enabled.
+if [ "${COMPOSE_PROFILES#*"with-yugabyte"}" != "${COMPOSE_PROFILES}" ]; then
+  echo "Using Yugabyte"
+  DATASTORE_CONNECTION="-cockroach_host local-dss-ybdb -cockroach_user yugabyte --cockroach_port 5433"
+else
+  echo "Using CockroachDB"
+  DATASTORE_CONNECTION="-cockroach_host local-dss-crdb"
+fi
+
 if [ "$DEBUG_ON" = "1" ]; then
   echo "Debug Mode: on"
 
-  dlv --headless --listen=:4000 --api-version=2 --accept-multiclient exec --continue /usr/bin/core-service -- \
-  -cockroach_host local-dss-crdb \
+  # Linter is disabled to properly unwrap $DATASTORE_CONNECTION.
+  # shellcheck disable=SC2086
+  dlv --headless --listen=:4000 --api-version=2 --accept-multiclient exec --continue /usr/bin/core-service -- ${DATASTORE_CONNECTION} \
   -public_key_files /var/test-certs/auth2.pem \
   -log_format console \
   -dump_requests \
@@ -20,8 +30,9 @@ if [ "$DEBUG_ON" = "1" ]; then
 else
   echo "Debug Mode: off"
 
-  /usr/bin/core-service \
-  -cockroach_host local-dss-crdb \
+  # Linter is disabled to properly unwrap $DATASTORE_CONNECTION.
+  # shellcheck disable=SC2086
+  /usr/bin/core-service ${DATASTORE_CONNECTION} \
   -public_key_files /var/test-certs/auth2.pem \
   -log_format console \
   -dump_requests \

pkg/rid/store/cockroach/store.go

@@ -19,8 +19,9 @@ import (
 )
 
 const (
-	// currentMajorSchemaVersion is the current major schema version.
-	currentMajorSchemaVersion = 4
+	// The current major schema version per datastore type.
+	currentCrdbMajorSchemaVersion     = 4
+	currentYugabyteMajorSchemaVersion = 1
 
 	//  Records expire if current time is <expiredDurationInMin> minutes more than records' endTime.
 	expiredDurationInMin = 30
@@ -91,8 +92,12 @@ func (s *Store) CheckCurrentMajorSchemaVersion(ctx context.Context) error {
 		return stacktrace.NewError("Remote ID database has not been bootstrapped with Schema Manager, Please check https://github.com/interuss/dss/tree/master/build#updgrading-database-schemas")
 	}
 
-	if currentMajorSchemaVersion != vs.Major {
-		return stacktrace.NewError("Unsupported schema version for remote ID! Got %s, requires major version of %d. Please check https://github.com/interuss/dss/tree/master/build#updgrading-database-schemas", vs, currentMajorSchemaVersion)
+	if s.db.Version.Type == datastore.CockroachDB && currentCrdbMajorSchemaVersion != vs.Major {
+		return stacktrace.NewError("Unsupported schema version for remote ID! Got %s, requires major version of %d. Please check https://github.com/interuss/dss/tree/master/build#updgrading-database-schemas", vs, currentCrdbMajorSchemaVersion)
+	}
+
+	if s.db.Version.Type == datastore.Yugabyte && currentYugabyteMajorSchemaVersion != vs.Major {
+		return stacktrace.NewError("Unsupported schema version for remote ID! Got %s, requires major version of %d. Please check https://github.com/interuss/dss/tree/master/build#updgrading-database-schemas", vs, currentYugabyteMajorSchemaVersion)
 	}
 
 	return nil
@@ -121,7 +126,9 @@ func (s *Store) Transact(ctx context.Context, f func(repo repos.Repository) erro
 
 	ctx = crdb.WithMaxRetries(ctx, flags.ConnectParameters().MaxRetries)
 
-	return crdbpgx.ExecuteTx(ctx, s.db.Pool, pgx.TxOptions{}, func(tx pgx.Tx) error {
+	return crdbpgx.ExecuteTx(ctx, s.db.Pool, pgx.TxOptions{
+		IsoLevel: pgx.Serializable,
+	}, func(tx pgx.Tx) error {
 		// Is this recover still necessary?
 		defer recoverRollbackRepanic(ctx, tx)
 		return f(&repo{

pkg/rid/store/cockroach/subscriptions.go

@@ -87,7 +87,7 @@ func (r *repo) MaxSubscriptionCountInCellsByOwner(ctx context.Context, cells s2.
 	// strict we could keep this count in memory, (or in some other storage).
 	var query = `
     SELECT
-      IFNULL(MAX(subscriptions_per_cell_id), 0)
+      COALESCE(MAX(subscriptions_per_cell_id), 0)
     FROM (
       SELECT
         COUNT(*) AS subscriptions_per_cell_id
@@ -96,11 +96,11 @@ func (r *repo) MaxSubscriptionCountInCellsByOwner(ctx context.Context, cells s2.
       	FROM subscriptions
       	WHERE owner = $1
       		AND ends_at >= $2
-      )
+      ) as q1
       WHERE
         cell_id = ANY($3)
       GROUP BY cell_id
-    )`
+    ) as q2`
 
 	row := r.QueryRow(ctx, query, owner, r.clock.Now(), dssql.CellUnionToCellIds(cells))
 	var ret int

pkg/scd/store/cockroach/availability.go

@@ -42,11 +42,13 @@ func init() {
 func (u *repo) UpsertUssAvailability(ctx context.Context, s *scdmodels.UssAvailabilityStatus) (*scdmodels.UssAvailabilityStatus, error) {
 	var (
 		upsertQuery = fmt.Sprintf(`
-		UPSERT INTO
+		INSERT INTO
 		scd_uss_availability
 		  (%s)
 		VALUES
 			($1, $2, transaction_timestamp())
+		ON CONFLICT (id) DO UPDATE
+			SET availability = $2, updated_at = transaction_timestamp()
 		RETURNING
 			%s`, availabilityFieldsWithoutPrefix, availabilityFieldsWithPrefix)
 	)

pkg/scd/store/cockroach/constraints.go

@@ -127,13 +127,26 @@ func (c *repo) GetConstraint(ctx context.Context, id dssmodels.ID) (*scdmodels.C
 func (c *repo) UpsertConstraint(ctx context.Context, s *scdmodels.Constraint) (*scdmodels.Constraint, error) {
 	var (
 		upsertQuery = fmt.Sprintf(`
-		UPSERT INTO
+		INSERT INTO
 		  scd_constraints
 		  (%s)
 		VALUES
 			($1, $2, $3, $4, $5, $6, $7, $8, $9, transaction_timestamp())
-		RETURNING
-			%s`, constraintFieldsWithoutPrefix, constraintFieldsWithPrefix)
+		ON CONFLICT (id) DO UPDATE
+		SET owner = $2,
+			version = $3,
+			url = $4,
+			altitude_lower = $5,
+			altitude_upper = $6,
+			starts_at = $7,
+			ends_at = $8,
+			cells = $9,
+			updated_at = transaction_timestamp()
+		RETURNING %s
+		`,
+			constraintFieldsWithoutPrefix,
+			constraintFieldsWithPrefix,
+		)
 	)
 
 	cids, err := dsssql.CellUnionToCellIdsWithValidation(s.Cells)
@@ -203,7 +216,8 @@ func (c *repo) SearchConstraints(ctx context.Context, v4d *dssmodels.Volume4D) (
 				COALESCE(starts_at <= $3, true)
 			AND
 				COALESCE(ends_at >= $2, true)
-			LIMIT $4`, constraintFieldsWithoutPrefix)
+			LIMIT $4
+			`, constraintFieldsWithoutPrefix)
 	)
 
 	// TODO: Lazily calculate & cache spatial covering so that it is only ever

pkg/scd/store/cockroach/operational_intents.go

@@ -196,13 +196,30 @@ func (s *repo) DeleteOperationalIntent(ctx context.Context, id dssmodels.ID) err
 func (s *repo) UpsertOperationalIntent(ctx context.Context, operation *scdmodels.OperationalIntent) (*scdmodels.OperationalIntent, error) {
 	var (
 		upsertOperationsQuery = fmt.Sprintf(`
-			UPSERT INTO
+			INSERT INTO
 				scd_operations
 				(%s)
 			VALUES
 				($1, $2, $3, $4, $5, $6, $7, $8, $9, transaction_timestamp(), $10, $11, $12, $13)
-			RETURNING
-				%s`, operationFieldsWithoutPrefix, operationFieldsWithPrefix)
+			ON CONFLICT (id) DO UPDATE
+				SET owner = $2,
+					version = $3,
+					url = $4,
+					altitude_lower = $5,
+					altitude_upper = $6,
+					starts_at = $7,
+					ends_at = $8,
+					subscription_id = $9,
+					updated_at = transaction_timestamp(),
+					state = $10,
+					cells = $11,
+					uss_requested_ovn = $12,
+					past_ovns = $13
+				RETURNING
+					%s`,
+			operationFieldsWithoutPrefix,
+			operationFieldsWithPrefix,
+		)
 	)
 
 	cids := make([]int64, len(operation.Cells))

pkg/scd/store/cockroach/store.go

@@ -16,8 +16,9 @@ import (
 )
 
 const (
-	// currentMajorSchemaVersion is the current major schema version.
-	currentMajorSchemaVersion = 3
+	// The current major schema version per datastore type.
+	currentCrdbMajorSchemaVersion     = 3
+	currentYugabyteMajorSchemaVersion = 1
 )
 
 var (
@@ -66,8 +67,12 @@ func (s *Store) CheckCurrentMajorSchemaVersion(ctx context.Context) error {
 		return stacktrace.NewError("Strategic conflict detection database has not been bootstrapped with Schema Manager, Please check https://github.com/interuss/dss/tree/master/build#upgrading-database-schemas")
 	}
 
-	if currentMajorSchemaVersion != vs.Major {
-		return stacktrace.NewError("Unsupported schema version for strategic conflict detection! Got %s, requires major version of %d. Please check https://github.com/interuss/dss/tree/master/build#upgrading-database-schemas", vs, currentMajorSchemaVersion)
+	if s.db.Version.Type == datastore.CockroachDB && currentCrdbMajorSchemaVersion != vs.Major {
+		return stacktrace.NewError("Unsupported schema version for strategic conflict detection! Got %s, requires major version of %d. Please check https://github.com/interuss/dss/tree/master/build#upgrading-database-schemas", vs, currentCrdbMajorSchemaVersion)
+	}
+
+	if s.db.Version.Type == datastore.Yugabyte && currentYugabyteMajorSchemaVersion != vs.Major {
+		return stacktrace.NewError("Unsupported schema version for strategic conflict detection! Got %s, requires major version of %d. Please check https://github.com/interuss/dss/tree/master/build#upgrading-database-schemas", vs, currentYugabyteMajorSchemaVersion)
 	}
 
 	return nil
@@ -84,7 +89,7 @@ func (s *Store) Interact(_ context.Context) (repos.Repository, error) {
 // Transact implements store.Transactor interface.
 func (s *Store) Transact(ctx context.Context, f func(context.Context, repos.Repository) error) error {
 	ctx = crdb.WithMaxRetries(ctx, flags.ConnectParameters().MaxRetries)
-	return crdbpgx.ExecuteTx(ctx, s.db.Pool, pgx.TxOptions{}, func(tx pgx.Tx) error {
+	return crdbpgx.ExecuteTx(ctx, s.db.Pool, pgx.TxOptions{IsoLevel: pgx.Serializable}, func(tx pgx.Tx) error {
 		return f(ctx, &repo{
 			q:     tx,
 			clock: s.clock,

pkg/scd/store/cockroach/subscriptions.go

@@ -156,7 +156,7 @@ func (c *repo) fetchSubscriptionByID(ctx context.Context, q dsssql.Queryable, id
 			FROM
 				scd_subscriptions
 			WHERE
-				id = $1`, subscriptionFieldsWithPrefix)
+				id = $1::uuid`, subscriptionFieldsWithPrefix)
 	)
 	uid, err := id.PgUUID()
 	if err != nil {
@@ -185,15 +185,30 @@ func (c *repo) pushSubscription(ctx context.Context, q dsssql.Queryable, s *scdm
 			FROM
 				scd_subscriptions
 			WHERE
-				id = $1
+				id = $1::uuid
 		)
-		UPSERT INTO
+		INSERT INTO
 		  scd_subscriptions
 		  (%s)
 		VALUES
 			($1, $2, $3, $4, $5, $6, $7, $8, $9, $10, $11, transaction_timestamp())
+		ON CONFLICT (id) DO UPDATE
+			SET owner = $2,
+				version = $3,
+				url = $4,
+				notification_index = $5,
+				notify_for_operations = $6,
+				notify_for_constraints = $7,
+				implicit = $8,
+				starts_at = $9,
+				ends_at = $10,
+				cells = $11,
+				updated_at = transaction_timestamp()
 		RETURNING
-			%s`, subscriptionFieldsWithoutPrefix, subscriptionFieldsWithPrefix)
+			%s`,
+			subscriptionFieldsWithoutPrefix,
+			subscriptionFieldsWithPrefix,
+		)
 	)
 
 	cids := make([]int64, len(s.Cells))